extrinsic
-0.0855129 0.0102156 -0.996285 -1.16432 
0.0518348 0.998639 0.00579064 0.0806387 
0.994988 -0.051147 -0.085926 1.29412 
0.0 0.0 0.0 1.0 

intrinsic
1161.49 0.0 961.743 
0.0 1161.49 543.535 
0.0 0.0 1.0 

0.286092 1.246092
